ACloudViewer  3.9.4
A Modern Library for 3D Data Processing
Public Member Functions | Static Public Attributes | List of all members
colmap::Image Class Reference

#include <image.h>

Public Member Functions

 Image ()
 
void SetUp (const Camera &camera)
 
void TearDown ()
 
image_t ImageId () const
 
void SetImageId (const image_t image_id)
 
const std::string & Name () const
 
std::string & Name ()
 
void SetName (const std::string &name)
 
camera_t CameraId () const
 
void SetCameraId (const camera_t camera_id)
 
bool HasCamera () const
 
bool IsRegistered () const
 
void SetRegistered (const bool registered)
 
point2D_t NumPoints2D () const
 
point2D_t NumPoints3D () const
 
point2D_t NumObservations () const
 
void SetNumObservations (const point2D_t num_observations)
 
point2D_t NumCorrespondences () const
 
void SetNumCorrespondences (const point2D_t num_observations)
 
point2D_t NumVisiblePoints3D () const
 
size_t Point3DVisibilityScore () const
 
const std::vector< point2D_t > & NumCorrespondencesHavePoint3D () const
 
std::vector< point2D_t > & NumCorrespondencesHavePoint3D ()
 
const VisibilityPyramid & Point3DVisibilityPyramid () const
 
VisibilityPyramid & Point3DVisibilityPyramid ()
 
const Eigen::Vector4d & Qvec () const
 
Eigen::Vector4d & Qvec ()
 
double Qvec (const size_t idx) const
 
double & Qvec (const size_t idx)
 
void SetQvec (const Eigen::Vector4d &qvec)
 
const Eigen::Vector4d & QvecPrior () const
 
Eigen::Vector4d & QvecPrior ()
 
double QvecPrior (const size_t idx) const
 
double & QvecPrior (const size_t idx)
 
bool HasQvecPrior () const
 
void SetQvecPrior (const Eigen::Vector4d &qvec)
 
const Eigen::Vector3d & Tvec () const
 
Eigen::Vector3d & Tvec ()
 
double Tvec (const size_t idx) const
 
double & Tvec (const size_t idx)
 
void SetTvec (const Eigen::Vector3d &tvec)
 
const Eigen::Vector3d & TvecPrior () const
 
Eigen::Vector3d & TvecPrior ()
 
double TvecPrior (const size_t idx) const
 
double & TvecPrior (const size_t idx)
 
bool HasTvecPrior () const
 
void SetTvecPrior (const Eigen::Vector3d &tvec)
 
const class Point2D & Point2D (const point2D_t point2D_idx) const
 
class Point2D & Point2D (const point2D_t point2D_idx)
 
const std::vector< class Point2D > & Points2D () const
 
void SetPoints2D (const std::vector< Eigen::Vector2d > &points)
 
void SetPoints2D (const std::vector< class Point2D > &points)
 
void SetPoint3DForPoint2D (const point2D_t point2D_idx, const point3D_t point3D_id)
 
void ResetPoint3DForPoint2D (const point2D_t point2D_idx)
 
bool IsPoint3DVisible (const point2D_t point2D_idx) const
 
bool HasPoint3D (const point3D_t point3D_id) const
 
void IncrementCorrespondenceHasPoint3D (const point2D_t point2D_idx)
 
void DecrementCorrespondenceHasPoint3D (const point2D_t point2D_idx)
 
void NormalizeQvec ()
 
Eigen::Matrix3x4d ProjectionMatrix () const
 
Eigen::Matrix3x4d InverseProjectionMatrix () const
 
Eigen::Matrix3d RotationMatrix () const
 
Eigen::Vector3d ProjectionCenter () const
 
Eigen::Vector3d ViewingDirection () const
 

Static Public Attributes

static const int kNumPoint3DVisibilityPyramidLevels = 6
 

Detailed Description

Definition at line 29 of file image.h.

Constructor & Destructor Documentation

◆ Image()

colmap::Image::Image ( )

Definition at line 46 of file image.cc.

Referenced by BOOST_AUTO_TEST_CASE().

Member Function Documentation

◆ CameraId()

camera_t colmap::Image::CameraId ( ) const
inline

Definition at line 248 of file image.h.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::IncrementalMapper::RegisterInitialImagePair(), colmap::IncrementalMapper::RegisterNextImage(), and colmap::IncrementalTriangulator::Retriangulate().

◆ DecrementCorrespondenceHasPoint3D()

void colmap::Image::DecrementCorrespondenceHasPoint3D ( const point2D_t  point2D_idx)

Definition at line 125 of file image.cc.

References colmap::VisibilityPyramid::ResetPoint(), colmap::Point2D::X(), and colmap::Point2D::Y().

◆ HasCamera()

bool colmap::Image::HasCamera ( ) const
inline

Definition at line 255 of file image.h.

References colmap::kInvalidCameraId.

◆ HasPoint3D()

bool colmap::Image::HasPoint3D ( const point3D_t  point3D_id) const

Definition at line 105 of file image.cc.

◆ HasQvecPrior()

bool colmap::Image::HasQvecPrior ( ) const
inline

Definition at line 321 of file image.h.

References colmap::IsNaN().

◆ HasTvecPrior()

bool colmap::Image::HasTvecPrior ( ) const
inline

Definition at line 345 of file image.h.

References colmap::IsNaN().

◆ ImageId()

image_t colmap::Image::ImageId ( ) const
inline

Definition at line 238 of file image.h.

Referenced by BOOST_AUTO_TEST_CASE(), cloudViewer::TwoViewInfoTab::ShowMatches(), and colmap::TwoViewInfoTab::ShowMatches().

◆ IncrementCorrespondenceHasPoint3D()

void colmap::Image::IncrementCorrespondenceHasPoint3D ( const point2D_t  point2D_idx)

Definition at line 112 of file image.cc.

References colmap::VisibilityPyramid::SetPoint(), colmap::Point2D::X(), and colmap::Point2D::Y().

◆ InverseProjectionMatrix()

Eigen::Matrix3x4d colmap::Image::InverseProjectionMatrix ( ) const

Definition at line 144 of file image.cc.

References colmap::ComposeProjectionMatrix(), and colmap::InvertProjectionMatrix().

◆ IsPoint3DVisible()

bool colmap::Image::IsPoint3DVisible ( const point2D_t  point2D_idx) const
inline

Definition at line 359 of file image.h.

◆ IsRegistered()

bool colmap::Image::IsRegistered ( ) const
inline

Definition at line 257 of file image.h.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::Reconstruction::IsImageRegistered(), colmap::IncrementalMapper::RegisterNextImage(), and colmap::IncrementalTriangulator::Retriangulate().

◆ Name() [1/2]

std::string & colmap::Image::Name ( )
inline

Definition at line 244 of file image.h.

References name_.

◆ Name() [2/2]

const std::string & colmap::Image::Name ( ) const
inline

Definition at line 242 of file image.h.

References name_.

Referenced by colmap::Reconstruction::FindCommonRegImageIds(), colmap::Reconstruction::Load(), cloudViewer::TwoViewInfoTab::ShowMatches(), and colmap::TwoViewInfoTab::ShowMatches().

◆ NormalizeQvec()

void colmap::Image::NormalizeQvec ( )

Definition at line 138 of file image.cc.

References colmap::NormalizeQuaternion().

◆ NumCorrespondences()

point2D_t colmap::Image::NumCorrespondences ( ) const
inline

Definition at line 273 of file image.h.

◆ NumCorrespondencesHavePoint3D() [1/2]

std::vector< point2D_t > & colmap::Image::NumCorrespondencesHavePoint3D ( )
inline

Definition at line 289 of file image.h.

◆ NumCorrespondencesHavePoint3D() [2/2]

const std::vector< point2D_t > & colmap::Image::NumCorrespondencesHavePoint3D ( ) const
inline

Definition at line 285 of file image.h.

◆ NumObservations()

point2D_t colmap::Image::NumObservations ( ) const
inline

Definition at line 267 of file image.h.

◆ NumPoints2D()

point2D_t colmap::Image::NumPoints2D ( ) const
inline

Definition at line 261 of file image.h.

Referenced by BOOST_AUTO_TEST_CASE(), and colmap::Reconstruction::Load().

◆ NumPoints3D()

point2D_t colmap::Image::NumPoints3D ( ) const
inline

Definition at line 265 of file image.h.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::Reconstruction::ComputeNumObservations(), and colmap::BundleAdjustmentConfig::NumResiduals().

◆ NumVisiblePoints3D()

point2D_t colmap::Image::NumVisiblePoints3D ( ) const
inline

Definition at line 279 of file image.h.

◆ Point2D() [1/2]

class Point2D & colmap::Image::Point2D ( const point2D_t  point2D_idx)
inline

Definition at line 353 of file image.h.

◆ Point2D() [2/2]

const class Point2D & colmap::Image::Point2D ( const point2D_t  point2D_idx) const
inline

Definition at line 349 of file image.h.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::Reconstruction::Merge(), colmap::IncrementalMapper::RegisterInitialImagePair(), colmap::IncrementalMapper::RegisterNextImage(), and colmap::IncrementalTriangulator::Retriangulate().

◆ Point3DVisibilityPyramid() [1/2]

VisibilityPyramid & colmap::Image::Point3DVisibilityPyramid ( )
inline

Definition at line 297 of file image.h.

◆ Point3DVisibilityPyramid() [2/2]

const VisibilityPyramid & colmap::Image::Point3DVisibilityPyramid ( ) const
inline

Definition at line 293 of file image.h.

◆ Point3DVisibilityScore()

size_t colmap::Image::Point3DVisibilityScore ( ) const
inline

Definition at line 281 of file image.h.

References colmap::VisibilityPyramid::Score().

◆ Points2D()

const std::vector< class Point2D > & colmap::Image::Points2D ( ) const
inline

Definition at line 357 of file image.h.

◆ ProjectionCenter()

Eigen::Vector3d colmap::Image::ProjectionCenter ( ) const

Definition at line 152 of file image.cc.

References colmap::ProjectionCenterFromPose().

Referenced by colmap::AlignToPrincipalPlane(), BOOST_AUTO_TEST_CASE(), colmap::IncrementalTriangulator::CompleteImage(), colmap::IncrementalMapper::RegisterInitialImagePair(), and colmap::RunModelComparer().

◆ ProjectionMatrix()

Eigen::Matrix3x4d colmap::Image::ProjectionMatrix ( ) const

Definition at line 140 of file image.cc.

References colmap::ComposeProjectionMatrix().

Referenced by colmap::IncrementalTriangulator::CompleteImage(), and colmap::IncrementalMapper::RegisterInitialImagePair().

◆ Qvec() [1/4]

Eigen::Vector4d & colmap::Image::Qvec ( )
inline

Definition at line 303 of file image.h.

◆ Qvec() [2/4]

const Eigen::Vector4d & colmap::Image::Qvec ( ) const
inline

Definition at line 301 of file image.h.

Referenced by colmap::AlignToPrincipalPlane(), colmap::CameraRig::ComputeRelativePoses(), colmap::IncrementalMapper::RegisterInitialImagePair(), and colmap::RunModelComparer().

◆ Qvec() [3/4]

double & colmap::Image::Qvec ( const size_t  idx)
inline

Definition at line 307 of file image.h.

◆ Qvec() [4/4]

double colmap::Image::Qvec ( const size_t  idx) const
inline

Definition at line 305 of file image.h.

◆ QvecPrior() [1/4]

Eigen::Vector4d & colmap::Image::QvecPrior ( )
inline

Definition at line 313 of file image.h.

◆ QvecPrior() [2/4]

const Eigen::Vector4d & colmap::Image::QvecPrior ( ) const
inline

Definition at line 311 of file image.h.

Referenced by BOOST_AUTO_TEST_CASE().

◆ QvecPrior() [3/4]

double & colmap::Image::QvecPrior ( const size_t  idx)
inline

Definition at line 319 of file image.h.

◆ QvecPrior() [4/4]

double colmap::Image::QvecPrior ( const size_t  idx) const
inline

Definition at line 315 of file image.h.

◆ ResetPoint3DForPoint2D()

void colmap::Image::ResetPoint3DForPoint2D ( const point2D_t  point2D_idx)

Definition at line 97 of file image.cc.

References colmap::Point2D::HasPoint3D(), colmap::kInvalidPoint3DId, and colmap::Point2D::SetPoint3DId().

Referenced by colmap::Reconstruction::Merge().

◆ RotationMatrix()

Eigen::Matrix3d colmap::Image::RotationMatrix ( ) const

Definition at line 148 of file image.cc.

References colmap::QuaternionToRotationMatrix().

Referenced by ViewingDirection().

◆ SetCameraId()

void colmap::Image::SetCameraId ( const camera_t  camera_id)
inline

Definition at line 250 of file image.h.

References colmap::kInvalidCameraId.

Referenced by BOOST_AUTO_TEST_CASE(), and colmap::Reconstruction::DeleteAllPoints2DAndPoints3D().

◆ SetImageId()

void colmap::Image::SetImageId ( const image_t  image_id)
inline

Definition at line 240 of file image.h.

Referenced by BOOST_AUTO_TEST_CASE(), and colmap::Reconstruction::DeleteAllPoints2DAndPoints3D().

◆ SetName()

void colmap::Image::SetName ( const std::string &  name)
inline

Definition at line 246 of file image.h.

References name, and name_.

Referenced by BOOST_AUTO_TEST_CASE(), and colmap::Reconstruction::DeleteAllPoints2DAndPoints3D().

◆ SetNumCorrespondences()

void colmap::Image::SetNumCorrespondences ( const point2D_t  num_observations)
inline

Definition at line 275 of file image.h.

Referenced by colmap::Reconstruction::DeleteAllPoints2DAndPoints3D(), and colmap::Reconstruction::Load().

◆ SetNumObservations()

void colmap::Image::SetNumObservations ( const point2D_t  num_observations)
inline

Definition at line 269 of file image.h.

Referenced by colmap::Reconstruction::Load().

◆ SetPoint3DForPoint2D()

void colmap::Image::SetPoint3DForPoint2D ( const point2D_t  point2D_idx,
const point3D_t  point3D_id 
)

Definition at line 87 of file image.cc.

References colmap::Point2D::HasPoint3D(), colmap::kInvalidPoint3DId, and colmap::Point2D::SetPoint3DId().

◆ SetPoints2D() [1/2]

void colmap::Image::SetPoints2D ( const std::vector< class Point2D > &  points)

Definition at line 81 of file image.cc.

References points.

◆ SetPoints2D() [2/2]

void colmap::Image::SetPoints2D ( const std::vector< Eigen::Vector2d > &  points)

Definition at line 71 of file image.cc.

References points.

Referenced by GenerateReconstruction(), and colmap::Reconstruction::Load().

◆ SetQvec()

void colmap::Image::SetQvec ( const Eigen::Vector4d &  qvec)
inline

Definition at line 309 of file image.h.

Referenced by BOOST_AUTO_TEST_CASE(), and colmap::Reconstruction::DeleteAllPoints2DAndPoints3D().

◆ SetQvecPrior()

void colmap::Image::SetQvecPrior ( const Eigen::Vector4d &  qvec)
inline

Definition at line 323 of file image.h.

Referenced by colmap::Reconstruction::DeleteAllPoints2DAndPoints3D().

◆ SetRegistered()

void colmap::Image::SetRegistered ( const bool  registered)
inline

Definition at line 259 of file image.h.

Referenced by colmap::Reconstruction::DeleteAllPoints2DAndPoints3D(), and colmap::Reconstruction::Merge().

◆ SetTvec()

void colmap::Image::SetTvec ( const Eigen::Vector3d &  tvec)
inline

Definition at line 333 of file image.h.

Referenced by BOOST_AUTO_TEST_CASE(), and colmap::Reconstruction::DeleteAllPoints2DAndPoints3D().

◆ SetTvecPrior()

void colmap::Image::SetTvecPrior ( const Eigen::Vector3d &  tvec)
inline

Definition at line 347 of file image.h.

Referenced by colmap::Reconstruction::DeleteAllPoints2DAndPoints3D().

◆ SetUp()

void colmap::Image::SetUp ( const Camera &  camera)

Definition at line 60 of file image.cc.

References colmap::Camera::CameraId(), colmap::Camera::Height(), kNumPoint3DVisibilityPyramidLevels, and colmap::Camera::Width().

◆ TearDown()

void colmap::Image::TearDown ( )

Definition at line 67 of file image.cc.

◆ Tvec() [1/4]

Eigen::Vector3d & colmap::Image::Tvec ( )
inline

Definition at line 327 of file image.h.

◆ Tvec() [2/4]

const Eigen::Vector3d & colmap::Image::Tvec ( ) const
inline

Definition at line 325 of file image.h.

Referenced by colmap::AlignToPrincipalPlane(), BOOST_AUTO_TEST_CASE(), colmap::CameraRig::ComputeRelativePoses(), colmap::IncrementalMapper::RegisterInitialImagePair(), and colmap::RunModelComparer().

◆ Tvec() [3/4]

double & colmap::Image::Tvec ( const size_t  idx)
inline

Definition at line 331 of file image.h.

◆ Tvec() [4/4]

double colmap::Image::Tvec ( const size_t  idx) const
inline

Definition at line 329 of file image.h.

◆ TvecPrior() [1/4]

Eigen::Vector3d & colmap::Image::TvecPrior ( )
inline

Definition at line 337 of file image.h.

◆ TvecPrior() [2/4]

const Eigen::Vector3d & colmap::Image::TvecPrior ( ) const
inline

Definition at line 335 of file image.h.

Referenced by BOOST_AUTO_TEST_CASE().

◆ TvecPrior() [3/4]

double & colmap::Image::TvecPrior ( const size_t  idx)
inline

Definition at line 343 of file image.h.

◆ TvecPrior() [4/4]

double colmap::Image::TvecPrior ( const size_t  idx) const
inline

Definition at line 339 of file image.h.

◆ ViewingDirection()

Eigen::Vector3d colmap::Image::ViewingDirection ( ) const

Definition at line 156 of file image.cc.

References RotationMatrix().

Member Data Documentation

◆ kNumPoint3DVisibilityPyramidLevels

const int colmap::Image::kNumPoint3DVisibilityPyramidLevels = 6
static

Definition at line 182 of file image.h.

Referenced by SetUp().

The documentation for this class was generated from the following files: